t3=pi/180*75;
t2=pi/180*55;
t1=pi/180*30;
C=[cos(t3) -sin(t3) 0;
    sin(t3) cos(t3) 0
    0        0      1];
B=[cos(t2) 0  -sin(t2);
    0         1      0;
   sin(t2) 0  cos(t2)];
A=[ 1      0        0;
    0   cos(t1) -sin(t1);
    0   sin(t1) cos(t1)];
X=[4 3 5]';
T=C*B*A*X;
v=[1 6 2]';
res=T+v;